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Share-Based Compensation - Restricted Stock Units (Details)
$ / shares in Units, $ in Millions
9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Restricted Stock Units  
RSU Activity  
Outstanding at the beginning of the period (in shares) 940,512
Granted (in shares) 386,987
Vested (in shares) (370,493)
Forfeited (in shares) (10,052)
Outstanding at the end of the period (in shares) 946,954
Weighted-Average Grant-Date Fair Value  
Outstanding at the beginning of the period (in dollars per share) | $ / shares $ 73.82
Granted (in dollars per share) | $ / shares 74.59
Vested (in dollars per share) | $ / shares 71.78
Forfeited (in dollars per share) | $ / shares 76.02
Outstanding at the end of the period (in dollars per share) | $ / shares $ 74.91
Additional disclosures  
Options vested (in shares) 147,955
Total unrecognized compensation cost related to nonvested restricted stock and RSUs granted | $ $ 30.7
Weighted-average period over which unrecognized compensation cost is expected to be recognized 1 year 21 days
Total fair value of shares vested during the period | $ $ 26.6
Restricted Stock Units | Maximum  
Additional disclosures  
Vesting period 12 months
Performance based restricted stock units  
Additional disclosures  
Performance period 3 years
Other Performance based restricted stock units | Minimum  
Additional disclosures  
Performance period 1 year
Other Performance based restricted stock units | Maximum  
Additional disclosures  
Performance period 2 years
Timed based restricted stock units | Minimum  
Additional disclosures  
Performance period 2 years
Timed based restricted stock units | Maximum  
Additional disclosures  
Performance period 4 years
2021 and 2022 LTI performance-based RSU grants | Restricted Stock Units  
Additional disclosures  
Additional shares authorized 148,756
Vesting period 3 years